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<div class="title">cv::detail::Estimator Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span><div class="ingroups"><a class="el" href="../../d1/d46/group__stitching.html">Images stitching</a> &raquo; <a class="el" href="../../d7/d74/group__stitching__rotation.html">Rotation Estimation</a></div></div>  </div>
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<p>Rotation estimator base class.  
 <a href="../../df/d15/classcv_1_1detail_1_1Estimator.html#details">More...</a></p>

<p><code>#include &lt;opencv2/stitching/detail/motion_estimators.hpp&gt;</code></p>
<div class="dynheader">
Inheritance diagram for cv::detail::Estimator:</div>
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<area href="../../d0/df2/classcv_1_1detail_1_1AffineBasedEstimator.html" title="Affine transformation based estimator. " alt="cv::detail::AffineBasedEstimator" shape="rect" coords="0,56,226,80"/>
<area href="../../d5/d56/classcv_1_1detail_1_1BundleAdjusterBase.html" title="Base class for all camera parameters refinement methods. " alt="cv::detail::BundleAdjusterBase" shape="rect" coords="472,56,698,80"/>
<area href="../../db/d3e/classcv_1_1detail_1_1HomographyBasedEstimator.html" title="Homography based rotation estimator. " alt="cv::detail::HomographyBasedEstimator" shape="rect" coords="708,56,934,80"/>
<area href="../../d6/d8d/classcv_1_1detail_1_1BundleAdjusterAffine.html" title="Bundle adjuster that expects affine transformation represented in homogeneous coordinates in R for ea..." alt="cv::detail::BundleAdjusterAffine" shape="rect" coords="0,112,226,136"/>
<area href="../../d4/dbb/classcv_1_1detail_1_1BundleAdjusterAffinePartial.html" title="Bundle adjuster that expects affine transformation with 4 DOF represented in homogeneous coordinates ..." alt="cv::detail::BundleAdjusterAffinePartial" shape="rect" coords="236,112,462,136"/>
<area href="../../da/d7c/classcv_1_1detail_1_1BundleAdjusterRay.html" title="Implementation of the camera parameters refinement algorithm which minimizes sum of the distances bet..." alt="cv::detail::BundleAdjusterRay" shape="rect" coords="472,112,698,136"/>
<area href="../../dc/d54/classcv_1_1detail_1_1BundleAdjusterReproj.html" title="Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection ..." alt="cv::detail::BundleAdjusterReproj" shape="rect" coords="708,112,934,136"/>
<area href="../../db/dd4/classcv_1_1detail_1_1NoBundleAdjuster.html" title="Stub bundle adjuster that does nothing. " alt="cv::detail::NoBundleAdjuster" shape="rect" coords="944,112,1170,136"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ab542b893998bd59ad667c408bde5db4b"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d15/classcv_1_1detail_1_1Estimator.html#ab542b893998bd59ad667c408bde5db4b">~Estimator</a> ()</td></tr>
<tr class="separator:ab542b893998bd59ad667c408bde5db4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0924447fc99df3360b6f005a7c0aa437"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d15/classcv_1_1detail_1_1Estimator.html#a0924447fc99df3360b6f005a7c0aa437">operator()</a> (const std::vector&lt; <a class="el" href="../../d4/db5/structcv_1_1detail_1_1ImageFeatures.html">ImageFeatures</a> &gt; &amp;features, const std::vector&lt; <a class="el" href="../../d2/d9a/structcv_1_1detail_1_1MatchesInfo.html">MatchesInfo</a> &gt; &amp;pairwise_matches, std::vector&lt; <a class="el" href="../../d4/d0a/structcv_1_1detail_1_1CameraParams.html">CameraParams</a> &gt; &amp;cameras)</td></tr>
<tr class="memdesc:a0924447fc99df3360b6f005a7c0aa437"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimates camera parameters.  <a href="#a0924447fc99df3360b6f005a7c0aa437">More...</a><br /></td></tr>
<tr class="separator:a0924447fc99df3360b6f005a7c0aa437"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Protected Member Functions</h2></td></tr>
<tr class="memitem:ab65ae24f4d6b53554dcc04121e6cbc47"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/d15/classcv_1_1detail_1_1Estimator.html#ab65ae24f4d6b53554dcc04121e6cbc47">estimate</a> (const std::vector&lt; <a class="el" href="../../d4/db5/structcv_1_1detail_1_1ImageFeatures.html">ImageFeatures</a> &gt; &amp;features, const std::vector&lt; <a class="el" href="../../d2/d9a/structcv_1_1detail_1_1MatchesInfo.html">MatchesInfo</a> &gt; &amp;pairwise_matches, std::vector&lt; <a class="el" href="../../d4/d0a/structcv_1_1detail_1_1CameraParams.html">CameraParams</a> &gt; &amp;cameras)=0</td></tr>
<tr class="memdesc:ab65ae24f4d6b53554dcc04121e6cbc47"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work.  <a href="#ab65ae24f4d6b53554dcc04121e6cbc47">More...</a><br /></td></tr>
<tr class="separator:ab65ae24f4d6b53554dcc04121e6cbc47"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Rotation estimator base class. </p>
<p>It takes features of all images, pairwise matches between all images and estimates rotations of all cameras.</p>
<dl class="section note"><dt>Note</dt><dd>The coordinate system origin is implementation-dependent, but you can always normalize the rotations in respect to the first camera, for instance. : </dd></dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ab542b893998bd59ad667c408bde5db4b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab542b893998bd59ad667c408bde5db4b">&#9670;&nbsp;</a></span>~Estimator()</h2>

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          <td class="memname">virtual cv::detail::Estimator::~Estimator </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
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<h2 class="groupheader">Member Function Documentation</h2>
<a id="ab65ae24f4d6b53554dcc04121e6cbc47"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab65ae24f4d6b53554dcc04121e6cbc47">&#9670;&nbsp;</a></span>estimate()</h2>

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          <td class="memname">virtual bool cv::detail::Estimator::estimate </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../d4/db5/structcv_1_1detail_1_1ImageFeatures.html">ImageFeatures</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>features</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../d2/d9a/structcv_1_1detail_1_1MatchesInfo.html">MatchesInfo</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>pairwise_matches</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="../../d4/d0a/structcv_1_1detail_1_1CameraParams.html">CameraParams</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cameras</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">features</td><td>Features of images </td></tr>
    <tr><td class="paramname">pairwise_matches</td><td>Pairwise matches of images </td></tr>
    <tr><td class="paramname">cameras</td><td>Estimated camera parameters </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>True in case of success, false otherwise </dd></dl>

<p>Implemented in <a class="el" href="../../d5/d56/classcv_1_1detail_1_1BundleAdjusterBase.html#ac762326fd8ef33c1ce0e065ee783bc3c">cv::detail::BundleAdjusterBase</a>.</p>

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<a id="a0924447fc99df3360b6f005a7c0aa437"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0924447fc99df3360b6f005a7c0aa437">&#9670;&nbsp;</a></span>operator()()</h2>

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          <td class="memname">bool cv::detail::Estimator::operator() </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../d4/db5/structcv_1_1detail_1_1ImageFeatures.html">ImageFeatures</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>features</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="../../d2/d9a/structcv_1_1detail_1_1MatchesInfo.html">MatchesInfo</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>pairwise_matches</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="../../d4/d0a/structcv_1_1detail_1_1CameraParams.html">CameraParams</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cameras</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<p>Estimates camera parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">features</td><td>Features of images </td></tr>
    <tr><td class="paramname">pairwise_matches</td><td>Pairwise matches of images </td></tr>
    <tr><td class="paramname">cameras</td><td>Estimated camera parameters </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>True in case of success, false otherwise </dd></dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/stitching/detail/<a class="el" href="../../d3/d73/motion__estimators_8hpp.html">motion_estimators.hpp</a></li>
</ul>
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